Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Buoyancy and Stability for Submerged and Floating Bodies01:11

Buoyancy and Stability for Submerged and Floating Bodies

3.2K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
3.2K
Uniform Depth Channel Flow: Problem Solving01:18

Uniform Depth Channel Flow: Problem Solving

560
To calculate the flow rate for a trapezoidal channel, first, identify the bottom width, side slope, and flow depth of the channel. The cross-sectional area (A) corresponding to the depth of flow (y), channel bottom width (B), and side slope (θ) is determined by:Next, calculate the wetted perimeter, which includes the bottom width and the sloped side lengths in contact with the water. Using the values of the cross-sectional area and the wetted perimeter, determine the hydraulic radius by...
560
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

802
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
802
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

1.0K
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
1.0K
Buoyancy01:12

Buoyancy

12.9K
When an object is placed in a fluid, it either floats or sinks. All objects in a fluid experience a buoyant force. For example, a metal ball sinks, while a rubber ball floats. Similarly, a submarine can sink and float by adjusting its buoyancy.  The concept of buoyancy raises several interesting questions. For instance, where does this buoyant force come from? How much buoyant force is required to make an object sink or float? Do objects that sink get any support at all from the...
12.9K
Uniform Depth Channel Flow01:27

Uniform Depth Channel Flow

680
Uniform depth channel flow keeps fluid depth consistent along channels such as irrigation canals. In natural channels, such as rivers, approximate uniform flow is often assumed. This condition occurs when the channel’s bottom slope matches the energy slope, balancing potential energy lost from gravity with head loss due to shear stress. This balance prevents depth changes along the channel length, resulting in a steady, uniform flow.Uniform flow in open channels with a constant cross-section...
680

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

FabH (β-Ketoacyl-ACP Synthase III) -- Promising Novel Antibacterial Target and Its Inhibitors.

Medicinal chemistry research : an international journal for rapid communications on design and mechanisms of action of biologically active agents·2026
Same author

Developmental neurotoxic effects of organophosphate flame retardants (OPFRs) across different life stages and the central role of pioneer transcription factors Neurog2/Ascl1 during the embryonic period.

Environmental pollution (Barking, Essex : 1987)·2026
Same author

Lobectomy, segmentectomy, and wedge resection for elderly patients with solid-predominant stage I NSCLC: survival, pulmonary function, and postoperative outcomes.

Translational lung cancer research·2026
Same author

Calcitonin Improved Chondrocytes in Osteoarthritis through the Wnt Signaling Pathway.

Combinatorial chemistry & high throughput screening·2026
Same author

LLM-Driven Regime-Adaptive strategy synthesis for Polymorphic Network routing.

Neural networks : the official journal of the International Neural Network Society·2026
Same author

circTMEM230 Sponges miR-223-3p to Promote Endplate Chondrocyte Extracellular Matrix Synthesis and Attenuate Tension-Induced Disc Degeneration.

FASEB journal : official publication of the Federation of American Societies for Experimental Biology·2026

Related Experiment Video

Updated: Feb 28, 2026

Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools
09:32

Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools

Published on: November 20, 2017

9.8K

An Underwater 6-DoF Position and Orientation Estimation Method for Divers Based on the VideoPose5CH Model.

Kaidong Wang1,2, Yi Yang1,2, Qingbo Wei1,2

  • 1State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

Sensors (Basel, Switzerland)
|February 27, 2026
PubMed
Summary

This study introduces a new method for Autonomous Underwater Vehicles (AUVs) to accurately track diver position and orientation. The VideoPose5CH network enhances underwater human pose estimation, improving human-robot collaboration.

Keywords:
6-DoF position and orientation estimationdata augmentationhuman pose estimationunderwater human–robot collaborationunderwater vision

More Related Videos

Measuring the Structure, Composition, and Change of Underwater Environments with Large-area Imaging
09:19

Measuring the Structure, Composition, and Change of Underwater Environments with Large-area Imaging

Published on: April 18, 2025

1.6K
A Field Primer for Monitoring Benthic Ecosystems Using Structure-From-Motion Photogrammetry
06:36

A Field Primer for Monitoring Benthic Ecosystems Using Structure-From-Motion Photogrammetry

Published on: April 15, 2021

4.3K

Related Experiment Videos

Last Updated: Feb 28, 2026

Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools
09:32

Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools

Published on: November 20, 2017

9.8K
Measuring the Structure, Composition, and Change of Underwater Environments with Large-area Imaging
09:19

Measuring the Structure, Composition, and Change of Underwater Environments with Large-area Imaging

Published on: April 18, 2025

1.6K
A Field Primer for Monitoring Benthic Ecosystems Using Structure-From-Motion Photogrammetry
06:36

A Field Primer for Monitoring Benthic Ecosystems Using Structure-From-Motion Photogrammetry

Published on: April 15, 2021

4.3K

Area of Science:

  • Robotics
  • Computer Vision
  • Human-Robot Interaction

Background:

  • Accurate diver pose estimation is critical for Autonomous Underwater Vehicles (AUVs) in human-robot collaboration.
  • Existing methods struggle with the non-rigid and variable postures of divers underwater.
  • Conventional deep learning and Perspective-n-Point (PnP) algorithms are often designed for rigid objects.

Purpose of the Study:

  • To develop a robust framework for estimating the six-degree-of-freedom (6-DoF) position and orientation of divers.
  • To introduce a novel neural network architecture, VideoPose5CH, for underwater human pose estimation.
  • To address the challenge of limited underwater 3D human pose datasets.

Main Methods:

  • Proposed a framework utilizing temporal sequences of 2D joint coordinates as input to the VideoPose5CH network.
  • VideoPose5CH outputs refined 3D and 2D joint coordinates, which are then used with a PnP algorithm for 6-DoF pose recovery.
  • Developed a land-based 3D human pose dataset augmentation strategy adapted for underwater conditions.

Main Results:

  • The proposed method achieved stable estimation of diver 6-DoF position and orientation within a range of 2.643 m to 11.477 m.
  • Average position errors were 7.33 cm (X), 4.04 cm (Y), and 27.15 cm (Z).
  • Average orientation errors were 6.96° (roll), 8.47° (pitch), and 2.62° (yaw).

Conclusions:

  • The novel VideoPose5CH network and data augmentation strategy significantly improve diver pose estimation accuracy and robustness.
  • The framework enables reliable 6-DoF pose and orientation tracking of divers in underwater environments.
  • This advancement is crucial for enhancing safety and efficiency in underwater human-robot collaboration.